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Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not combat-ready for high-stakes tasks. Recent advances in interactive imitation learning have presented a promising framework for human-robot teaming, enabling the robots to operate safely and continually improve their performances over long-term deployments. Nonetheless, existing methods typically require constant human supervision and preemptive feedback, limiting their practicality in realistic domains. This work aims to endow a robot with the ability to monitor and detect errors during task execution. We introduce a model-based runtime monitoring algorithm that learns from deployment data to detect system anomalies and anticipate failures. Unlike prior work that cannot foresee future failures or requires failure experiences for training, our method learns a latent-space dynamics model and a failure classifier, enabling our method to simulate future action outcomes and detect out-of-distribution and high-risk states preemptively. We train our method within an interactive imitation learning framework, where it continually updates the model from the experiences of the human-robot team collected using trustworthy deployments. Consequently, our method reduces the human workload needed over time while ensuring reliable task execution. Our method outperforms the baselines across system-level and unit-test metrics, with 23% and 40% higher success rates in simulation and on physical hardware, respectively. More information at //ut-austin-rpl.github.io/sirius-runtime-monitor/

Graph Neural Networks (GNNs) are powerful in learning semantics of graph data. Recently, a new paradigm "pre-train, prompt" has shown promising results in adapting GNNs to various tasks with less supervised data. The success of such paradigm can be attributed to the more consistent objectives of pre-training and task-oriented prompt tuning, where the pre-trained knowledge can be effectively transferred to downstream tasks. However, an overlooked issue of existing studies is that the structure information of graph is usually exploited during pre-training for learning node representations, while neglected in the prompt tuning stage for learning task-specific parameters. To bridge this gap, we propose a novel structure-based prompting method for GNNs, namely SAP, which consistently exploits structure information in both pre-training and prompt tuning stages. In particular, SAP 1) employs a dual-view contrastive learning to align the latent semantic spaces of node attributes and graph structure, and 2) incorporates structure information in prompted graph to elicit more pre-trained knowledge in prompt tuning. We conduct extensive experiments on node classification and graph classification tasks to show the effectiveness of SAP. Moreover, we show that SAP can lead to better performance in more challenging few-shot scenarios on both homophilous and heterophilous graphs.

In predictive modeling with simulation or machine learning, it is critical to accurately assess the quality of estimated values through output analysis. In recent decades output analysis has become enriched with methods that quantify the impact of input data uncertainty in the model outputs to increase robustness. However, most developments are applicable assuming that the input data adheres to a parametric family of distributions. We propose a unified output analysis framework for simulation and machine learning outputs through the lens of Monte Carlo sampling. This framework provides nonparametric quantification of the variance and bias induced in the outputs with higher-order accuracy. Our new bias-corrected estimation from the model outputs leverages the extension of fast iterative bootstrap sampling and higher-order influence functions. For the scalability of the proposed estimation methods, we devise budget-optimal rules and leverage control variates for variance reduction. Our theoretical and numerical results demonstrate a clear advantage in building more robust confidence intervals from the model outputs with higher coverage probability.

Recently, there has been an increasing interest in automated prompt optimization based on reinforcement learning (RL). This approach offers important advantages, such as generating interpretable prompts and being compatible with black-box foundation models. However, the substantial prompt space size poses challenges for RL-based methods, often leading to suboptimal policy convergence. This paper introduces MultiPrompter, a new framework that views prompt optimization as a cooperative game between prompters which take turns composing a prompt together. Our cooperative prompt optimization effectively reduces the problem size and helps prompters learn optimal prompts. We test our method on the text-to-image task and show its ability to generate higher-quality images than baselines.

The cost of manual data labeling can be a significant obstacle in supervised learning. Data programming (DP) offers a weakly supervised solution for training dataset creation, wherein the outputs of user-defined programmatic labeling functions (LFs) are reconciled through unsupervised learning. However, DP can fail to outperform an unweighted majority vote in some scenarios, including low-data contexts. This work introduces a Bayesian extension of classical DP that mitigates failures of unsupervised learning by augmenting the DP objective with regularization terms. Regularized learning is achieved through maximum a posteriori estimation with informative priors. Majority vote is proposed as a proxy signal for automated prior parameter selection. Results suggest that regularized DP improves performance relative to maximum likelihood and majority voting, confers greater interpretability, and bolsters performance in low-data regimes.

Recently, automatic speaker verification (ASV) based on deep learning is easily contaminated by adversarial attacks, which is a new type of attack that injects imperceptible perturbations to audio signals so as to make ASV produce wrong decisions. This poses a significant threat to the security and reliability of ASV systems. To address this issue, we propose a Diffusion-Based Adversarial Purification (DAP) method that enhances the robustness of ASV systems against such adversarial attacks. Our method leverages a conditional denoising diffusion probabilistic model to effectively purify the adversarial examples and mitigate the impact of perturbations. DAP first introduces controlled noise into adversarial examples, and then performs a reverse denoising process to reconstruct clean audio. Experimental results demonstrate the efficacy of the proposed DAP in enhancing the security of ASV and meanwhile minimizing the distortion of the purified audio signals.

Representation learning is increasingly employed to generate representations that are predictive across multiple downstream tasks. The development of representation learning algorithms that provide strong fairness guarantees is thus important because it can prevent unfairness towards disadvantaged groups for all downstream prediction tasks. To prevent unfairness towards disadvantaged groups in all downstream tasks, it is crucial to provide representation learning algorithms that provide fairness guarantees. In this paper, we formally define the problem of learning representations that are fair with high confidence. We then introduce the Fair Representation learning with high-confidence Guarantees (FRG) framework, which provides high-confidence guarantees for limiting unfairness across all downstream models and tasks, with user-defined upper bounds. After proving that FRG ensures fairness for all downstream models and tasks with high probability, we present empirical evaluations that demonstrate FRG's effectiveness at upper bounding unfairness for multiple downstream models and tasks.

Despite the recent progress in deep learning, most approaches still go for a silo-like solution, focusing on learning each task in isolation: training a separate neural network for each individual task. Many real-world problems, however, call for a multi-modal approach and, therefore, for multi-tasking models. Multi-task learning (MTL) aims to leverage useful information across tasks to improve the generalization capability of a model. This thesis is concerned with multi-task learning in the context of computer vision. First, we review existing approaches for MTL. Next, we propose several methods that tackle important aspects of multi-task learning. The proposed methods are evaluated on various benchmarks. The results show several advances in the state-of-the-art of multi-task learning. Finally, we discuss several possibilities for future work.

Recently, contrastive learning (CL) has emerged as a successful method for unsupervised graph representation learning. Most graph CL methods first perform stochastic augmentation on the input graph to obtain two graph views and maximize the agreement of representations in the two views. Despite the prosperous development of graph CL methods, the design of graph augmentation schemes -- a crucial component in CL -- remains rarely explored. We argue that the data augmentation schemes should preserve intrinsic structures and attributes of graphs, which will force the model to learn representations that are insensitive to perturbation on unimportant nodes and edges. However, most existing methods adopt uniform data augmentation schemes, like uniformly dropping edges and uniformly shuffling features, leading to suboptimal performance. In this paper, we propose a novel graph contrastive representation learning method with adaptive augmentation that incorporates various priors for topological and semantic aspects of the graph. Specifically, on the topology level, we design augmentation schemes based on node centrality measures to highlight important connective structures. On the node attribute level, we corrupt node features by adding more noise to unimportant node features, to enforce the model to recognize underlying semantic information. We perform extensive experiments of node classification on a variety of real-world datasets. Experimental results demonstrate that our proposed method consistently outperforms existing state-of-the-art baselines and even surpasses some supervised counterparts, which validates the effectiveness of the proposed contrastive framework with adaptive augmentation.

Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.